Adding github actions and fixes to README and docker file.

Author: emrainey

.github/workflows/docker-build-push.yml

@@ -0,0 +1,65 @@
+name: Build and Push Docker Image
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - "v*"
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-and-push:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to GitHub Container Registry
+        if: github.event_name != 'pull_request'
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels)
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=ref,event=branch
+            type=ref,event=pr
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=semver,pattern={{major}}
+            type=sha,prefix={{branch}}-
+            type=raw,value=latest,enable={{is_default_branch}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: ./cyphal-tools
+          file: ./cyphal-tools/Dockerfile
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

README.md

@@ -4,7 +4,7 @@ A docker container to use Yakut from OpenCyphal.org and github.com/opencyphal an
 
 ## Setup
 
-Check out the git submodules to get the latest wire shark filters and the latest Cyphal Regulated Messages. 
+Check out the git submodules to get the latest wire shark filters and the latest Cyphal Regulated Messages.
 
 ```bash
 git submodule init
@@ -13,32 +13,35 @@ git submodule update
 
 ## Building
 
-I use finch locally to build on my Mac. 
+I use finch locally to build on my Mac.
 
 ```bash
-finch build cyphal-tools cyphal-tools
+finch build cyphal-tools --tag docker-opencyphal-debug-tools
 ```
 
 On Linux you can use docker
 
 ```bash
-docker buildx build cyphal-tools -t cyphal-tools
+docker buildx build cyphal-tools -t docker-opencyphal-debug-tools
 ```
 
 ## Running
 
+Use native host to get network access for Cyphal/UDP traffic:
+
 ```bash
-finch run -it --network host --cap-add=NET_RAW --cap-add=NET_ADMIN cyphal-tools
+finch run -it --network host --cap-add=NET_RAW --cap-add=NET_ADMIN docker-opencyphal-debug-tools
 ```
 
 or
 
 ```bash
-docker run -it --net host cyphal-tools
+docker run -it --net host docker-opencyphal-debug-tools
 ```
 
-You can use both the `tshark` and `yakut` tools in the container to observer multicast Cyphal/UDP
-traffic.
+You can either run the container with `--network host` to get direct network access for Cyphal/UDP traffic or expose the UDP port 9382 to access it from outside the container `-p 9382:9382`.
+
+You can use both the `tshark` and `yakut` tools in the container to observe multicast Cyphal/UDP traffic.
 
 ### Terminal Shark
 
@@ -62,6 +65,7 @@ Capturing on 'eth0'
 ```
 
 ### Yakut
+
 See Yakut's readme for more information: [here](https://github.com/opencyphal/yakut)
 
 Be sure to set `UAVCAN__NODE__ID` and `UAVCAN__UDP__IFACE` as appropriate before running `yakut`.

cyphal-tools/Dockerfile

@@ -1,7 +1,7 @@
 # We use the base Ubuntu image on ECR
 FROM ubuntu:22.04
 
-ENV DEBIAN_FRONTEND noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
 
 # Change the default shell to /bin/bash
 RUN chsh -s /bin/bash root
@@ -18,25 +18,32 @@ RUN apt install -y debconf
 RUN echo "resolvconf resolvconf/linkify-resolvconf boolean false" | debconf-set-selections
 RUN apt install -y --reinstall resolvconf
 RUN apt install -y ubuntu-minimal dbus usbutils can-utils tcpdump tshark screen tmux joe bash-completion autoconf libtool \
-                   python3.11 python3-pip python3-dev
+    python3.11 python3-pip python3-dev
 RUN apt clean && rm -r /var/lib/apt/lists/*
 
 # Pips to install
 RUN python3 -m pip install --upgrade pip
-RUN python3 -m pip install -Iv pyserial yakut
+RUN python3 -m pip install -Iv pyserial yakut==0.13.0
 RUN python3 -m pip check
 RUN rm -rf /root/.cache/pip/*
 
 # Create the working directory for processing cyphal DSDL and Yakut
 WORKDIR /app
-
-ENV CYPHAL_PATH /app/cyphal/dsdl
-ENV YAKUT_PATH ${CYPHAL_PATH}/../generated
-RUN mkdir -p ${YAKUT_PATH} ${DSDL_PATH}
-COPY public_regulated_data_types/uavcan ${CYPHAL_PATH}/uavcan
-RUN yakut -v compile -O ${YAKUT_PATH} ${CYPHAL_PATH}/uavcan
-ENV DSDL_PATH ${CYPHAL_PATH}/uavcan
-ENV PYTHONPATH ${YAKUT_PATH}
+# The root of all the cyphal files
+ENV CYPHAL_ROOT=/app/cyphal
+# Directory where DSDL files are located
+ENV DSDL_PATH=${CYPHAL_ROOT}/dsdl
+# Directory where Yakut will generate Python modules from DSDL
+ENV YAKUT_PATH=${CYPHAL_ROOT}/generated
+# When running Yakut, it needs to find the generated Python modules
+ENV PYTHONPATH=${YAKUT_PATH}
+# Where Cyphal can find the dsdl to compile automatically
+ENV CYPHAL_PATH=${DSDL_PATH}/uavcan
+# Used by Nunavut as well
+ENV DSDL_INCLUDE_PATH=${DSDL_PATH}/uavcan
+RUN mkdir -p ${CYPHAL_ROOT} ${DSDL_PATH} ${YAKUT_PATH} ${DSDL_INCLUDE_PATH}
+COPY public_regulated_data_types/uavcan ${DSDL_PATH}/uavcan
+RUN yakut -v compile -O ${YAKUT_PATH} ${DSDL_PATH}/uavcan
 
 COPY wireshark_plugins/*.lua /root/.local/lib/wireshark/plugins/
 RUN setcap 'CAP_NET_RAW+eip CAP_NET_ADMIN+eip' /usr/bin/dumpcap
@@ -45,7 +52,9 @@ RUN setcap 'CAP_NET_RAW+eip CAP_NET_ADMIN+eip' /usr/bin/dumpcap
 RUN lsb_release -a
 
 # Cyphal UDP Port
-EXPOSE 9382/UDP
+EXPOSE 9382/udp
 
 # Check that it exists and show the version in the log
+ENV UAVCAN__NODE__ID=126
+ENV UAVCAN__UDP__IFACE=127.0.0.1
 RUN yakut --version